void SensorModel_::Load()

in simulation_ws/src/rover/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h [101:126]

• 23 lines of code
• 7 McCabe index (conditional complexity)

void SensorModel_<T>::Load(sdf::ElementPtr _sdf, const std::string& prefix)
{
  std::string _offset, _drift, _drift_frequency, _gaussian_noise, _scale_error;

  if (prefix.empty()) {
    _offset              = "offset";
    _drift               = "drift";
    _drift_frequency     = "driftFrequency";
    _gaussian_noise      = "gaussianNoise";
    _scale_error         = "scaleError";
  } else {
    _offset              = prefix + "Offset";
    _drift               = prefix + "Drift";
    _drift_frequency     = prefix + "DriftFrequency";
    _gaussian_noise      = prefix + "GaussianNoise";
    _scale_error         = prefix + "ScaleError";
  }

  if (_sdf->HasElement(_offset))              LoadImpl(_sdf->GetElement(_offset), offset);
  if (_sdf->HasElement(_drift))               LoadImpl(_sdf->GetElement(_drift), drift);
  if (_sdf->HasElement(_drift_frequency))     LoadImpl(_sdf->GetElement(_drift_frequency), drift_frequency);
  if (_sdf->HasElement(_gaussian_noise))      LoadImpl(_sdf->GetElement(_gaussian_noise), gaussian_noise);
  if (_sdf->HasElement(_scale_error))         LoadImpl(_sdf->GetElement(_scale_error), scale_error);

  reset();
}